title: Motion optimization and parameter identification for a human and lower-back exoskeleton model
creator: Manns, Paul
creator: Sreenivasa, Manish
creator: Millard, Matthew
creator: Mombaur, Katja
subject: 500
subject: 500 Natural sciences and mathematics
subject: 600
subject: 600 Technology (Applied sciences)
subject: 610
subject: 610 Medical sciences Medicine
description: Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models  of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we present a study that models the interaction between a human model actuated by muscles and a lower-back exoskeleton. We provide a computational framework for identifying the spring parameters of the exoskeleton using an optimal control approach and forward-dynamics simulations. This is applied to generate dynamically consistent bending and lifting movements in the sagittal plane. Our computations are able to predict motions and forces of the human and exoskeleton that are within the torque limits of a subject. The identified exoskeleton could also  yield a considerable reduction of the peak lower-back torques as well as the cumulative lower-back load during the movements. This work is relevant to the research communities working on human-robot interaction, and can be used as a basis for a better human-centered design process.
date: 2017-03-01
type: Article
type: info:eu-repo/semantics/article
type: NonPeerReviewed
format: application/pdf
identifier: https://archiv.ub.uni-heidelberg.de/volltextserverhttps://archiv.ub.uni-heidelberg.de/volltextserver/22785/1/LRA2676355.pdf
identifier: DOI:10.11588/heidok.00022785
identifier: urn:nbn:de:bsz:16-heidok-227858
identifier:   Manns, Paul ; Sreenivasa, Manish ; Millard, Matthew ; Mombaur, Katja  (2017) Motion optimization and parameter identification for a human and lower-back exoskeleton model.  IEEE ROBOTICS AND AUTOMATION LETTERS, 2 (3).  pp. 1564-1570.  ISSN 2377-3766     
relation: https://archiv.ub.uni-heidelberg.de/volltextserver/22785/
relation: info:eu-repo/grantAgreement/EC/FP7/687662
rights: info:eu-repo/semantics/openAccess
rights: http://archiv.ub.uni-heidelberg.de/volltextserver/help/license_urhg.html
language: eng